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make kill switch engaged a warning only if the vehicle is flying

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daniele
2020-04-20 09:47:04 +02:00
committed by Daniel Agar
parent be043d24a0
commit f01195c13f
1 changed files with 7 additions and 1 deletions
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src/modules/commander/Commander.cpp
+7 -1
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@@ -2035,7 +2035,13 @@ Commander::run()
if (_manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* set lockdown flag */
if (!armed.manual_lockdown) {
mavlink_and_console_log_info(&mavlink_log_pub, "Manual kill-switch engaged");
if (_land_detector.landed) {
mavlink_and_console_log_info(&mavlink_log_pub, "Manual kill-switch engaged");
} else {
mavlink_log_critical(&mavlink_log_pub, "Manual kill-switch engaged");
}
_status_changed = true;
armed.manual_lockdown = true;
}